name: Build Model from Upstream

env:
  BUILD_DIR: "/data/openpilot"
  OUTPUT_DIR: ${{ github.workspace }}/output
  SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
  UPSTREAM_REPO: "commaai/openpilot"
  TINYGRAD_PATH: ${{ github.workspace }}/tinygrad_repo
  MODELS_DIR: ${{ github.workspace }}/selfdrive/modeld/models

on:
  workflow_call:
    inputs:
      upstream_branch:
        description: 'Upstream branch to build from'
        required: true
        default: 'master'
        type: string
      custom_name:
        description: 'Custom name for the model (no date, only name)'
        required: false
        type: string
      is_20hz:
        description: 'Is this a 20Hz model'
        required: false
        type: boolean
        default: true
      artifact_suffix:
        description: 'Suffix for artifact name'
        required: false
        type: string
        default: ''
  workflow_dispatch:
    inputs:
      upstream_branch:
        description: 'Upstream branch to build from'
        required: true
        default: 'master'
        type: string
      custom_name:
        description: 'Custom name for the model (no date, only name)'
        required: false
        type: string
      is_20hz:
        description: 'Is this a 20Hz model'
        required: false
        type: boolean
        default: true


run-name: Build model [${{ inputs.custom_name || inputs.upstream_branch }}] from ref [${{ inputs.upstream_branch }}]

jobs:
  get_model:
    runs-on: ubuntu-latest
    env:
      REF: ${{ inputs.upstream_branch }}
    outputs:
      model_date: ${{ steps.commit-date.outputs.model_date }}
    steps:
      # Note: To allow dynamic models from both openpilot and sunnypilot (merges/mashups), we try commaai as default,
      # and fallback to sunnypilot if the ref checkout fails.
      - name: Checkout commaai/openpilot
        id: checkout_upstream
        continue-on-error: true
        uses: actions/checkout@v4
        with:
          repository: commaai/openpilot
          ref: ${{ inputs.upstream_branch }}
          submodules: recursive
          path: openpilot

      - name: Fallback to sunnypilot/sunnypilot
        if: steps.checkout_upstream.outcome == 'failure'
        uses: actions/checkout@v4
        with:
          repository: sunnypilot/sunnypilot
          ref: ${{ inputs.upstream_branch }}
          submodules: recursive
          path: openpilot
      - name: Get commit date
        id: commit-date
        run: |
          cd ${{ github.workspace }}/openpilot
          commit_date=$(git log -1 --format=%cd --date=format:'%B %d, %Y')
          echo "model_date=${commit_date}" >> $GITHUB_OUTPUT
          cat $GITHUB_OUTPUT
      - run: |
          cd ${{ github.workspace }}/openpilot
          git lfs pull
      - name: 'Upload Artifact'
        uses: actions/upload-artifact@v4
        with:
          name: models-${{ env.REF }}${{ inputs.artifact_suffix  }}
          path: ${{ github.workspace }}/openpilot/selfdrive/modeld/models/*.onnx

  build_model:
    runs-on: [self-hosted, tici]
    needs: get_model
    env:
      MODEL_NAME: ${{ inputs.custom_name || inputs.upstream_branch }} (${{ needs.get_model.outputs.model_date }})
      REF: ${{ inputs.upstream_branch }}
    steps:
      - uses: actions/checkout@v4
        with:
          submodules: recursive

      - run: git lfs pull
      - name: Cache SCons
        uses: actions/cache@v4
        with:
          path: ${{env.SCONS_CACHE_DIR}}
          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model-${{ github.sha }}
          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.)
          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
          restore-keys: |
            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model
            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}
            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}-model
            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}-model
            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}
            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
            scons-${{ runner.os }}-${{ runner.arch }}

      - name: Set environment variables
        id: set-env
        run: |
          # Set up common environment
          source /etc/profile;
          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
          printenv >> $GITHUB_ENV
          if [[ "${{ runner.debug }}" == "1" ]]; then
            cat $GITHUB_OUTPUT
          fi

      - name: Setup build environment
        run: |
          mkdir -p "${BUILD_DIR}/"
          sudo find $BUILD_DIR/ -mindepth 1 -delete
          echo "Starting build stage..."
          echo "BUILD_DIR: ${BUILD_DIR}"
          echo "CI_DIR: ${CI_DIR}"
          echo "VERSION: ${{ steps.set-env.outputs.version }}"
          echo "UV_PROJECT_ENVIRONMENT: ${UV_PROJECT_ENVIRONMENT}"
          echo "VIRTUAL_ENV: ${VIRTUAL_ENV}"
          echo "-------"
          if [[ "${{ runner.debug }}" == "1" ]]; then
            printenv
          fi
          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
          rm -rf ${{ env.MODELS_DIR }}/*.onnx

      - name: Download model artifacts
        uses: actions/download-artifact@v4
        with:
          name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
          path: ${{ github.workspace }}/selfdrive/modeld/models
      - run: |
          rm -f ${{ github.workspace }}/selfdrive/modeld/models/{dmonitoring_model,big_driving_policy,big_driving_vision}.onnx

      - name: Build Model
        run: |
          source /etc/profile
          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
          export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}"

          # Loop through all .onnx files
          find "${{ env.MODELS_DIR }}" -maxdepth 1 -name '*.onnx' | while IFS= read -r onnx_file; do
            base_name=$(basename "$onnx_file" .onnx)
            output_file="${{ env.MODELS_DIR }}/${base_name}_tinygrad.pkl"

            echo "Compiling: $onnx_file -> $output_file"
            QCOM=1 python3 "${{ env.TINYGRAD_PATH }}/examples/openpilot/compile3.py" "$onnx_file" "$output_file"
            DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0 python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
          done

      - name: Validate Model Outputs
        run: |
          source /etc/profile
          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
          python3 "${{ github.workspace }}/release/ci/model_generator.py" \
            --validate-only \
            --model-dir "${{ env.MODELS_DIR }}"

      - name: Prepare Output
        run: |
          sudo rm -rf ${{ env.OUTPUT_DIR }}
          mkdir -p ${{ env.OUTPUT_DIR }}

          # Copy the model files
          rsync -avm \
            --include='*.dlc' \
            --include='*.pkl' \
            --include='*.onnx' \
            --exclude='*' \
            --delete-excluded \
            --chown=comma:comma \
            ${{ env.MODELS_DIR }}/ ${{ env.OUTPUT_DIR }}/

          python3 "${{ github.workspace }}/release/ci/model_generator.py" \
            --model-dir "${{ env.MODELS_DIR }}" \
            --output-dir "${{ env.OUTPUT_DIR }}" \
            --custom-name "${{ env.MODEL_NAME }}" \
            --upstream-branch "${{ inputs.upstream_branch }}" \
            ${{ inputs.is_20hz && '--is-20hz' || '' }}

      - name: Write artifact name to file
        run: echo "model-${{ env.MODEL_NAME }}${{ inputs.artifact_suffix }}-${{ github.run_number }}" > ${{ env.OUTPUT_DIR }}/artifact_name.txt

      - name: Upload Build Artifacts
        id: upload-artifact
        uses: actions/upload-artifact@v4
        with:
          name: model-${{ env.MODEL_NAME }}${{ inputs.artifact_suffix }}-${{ github.run_number }}
          path: ${{ env.OUTPUT_DIR }}

      - name: Upload artifact name file
        uses: actions/upload-artifact@v4
        with:
          name: artifact-name-${{ inputs.custom_name || inputs.upstream_branch }}
          path: ${{ env.OUTPUT_DIR }}/artifact_name.txt

      - name: Re-enable powersave
        if: always()
        run: |
          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
